CN102059697B - Translating branch chain and parallel robot using same - Google Patents

Translating branch chain and parallel robot using same Download PDF

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Publication number
CN102059697B
CN102059697B CN2009103099501A CN200910309950A CN102059697B CN 102059697 B CN102059697 B CN 102059697B CN 2009103099501 A CN2009103099501 A CN 2009103099501A CN 200910309950 A CN200910309950 A CN 200910309950A CN 102059697 B CN102059697 B CN 102059697B
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CN
China
Prior art keywords
pivot
connector
rod
chain
articulated
Prior art date
Application number
CN2009103099501A
Other languages
Chinese (zh)
Other versions
CN102059697A (en
Inventor
赵智明
Original Assignee
鸿富锦精密工业(深圳)有限公司
鸿海精密工业股份有限公司
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Application filed by 鸿富锦精密工业(深圳)有限公司, 鸿海精密工业股份有限公司 filed Critical 鸿富锦精密工业(深圳)有限公司
Priority to CN2009103099501A priority Critical patent/CN102059697B/en
Publication of CN102059697A publication Critical patent/CN102059697A/en
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Publication of CN102059697B publication Critical patent/CN102059697B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0258Two-dimensional joints
    • B25J17/0266Two-dimensional joints comprising more than two actuating or connecting rods

Abstract

The invention discloses a translating branch chain which is used for a parallel robot. The translating branch chain comprises a swing arm and a connecting rod mechanism which is connected with the swing arm, wherein the connecting rod mechanism comprises two connecting rods which are arranged in parallel, a first connecting piece and a second connecting piece which are movably connected with the two connecting rods and a plurality of pivoting members; the first connecting piece is fixedly connected with the swing arm; each pivoting member comprises a first pivotal part and a second pivotal part which is connected with the first pivotal part; the first pivotal part is provided with a first axis; the second pivotal part is provided with a second axis which is perpendicular to and non-coplanar with the first axis; the end parts of the first connecting piece and the second connecting piece are movably connected to the first pivotal parts of the plurality of pivoting members respectively and rotate around the first axis; and the end part of each connecting rod is movably connected to the second pivotal parts of the plurality of pivoting members and rotates around the second axis. The invention also provides the parallel robot using the translating branch chain. The robot has the advantages of high movement flexibility and low production cost.

Description

Translation side chain and use the parallel robot of this translation side chain
Technical field
The present invention relates to a kind of translation side chain, particularly a kind of side chain of the translation for industrial robot and use the parallel robot of this translation side chain.
Background technology
Parallel robot has the series of advantages such as rigidity is large, bearing capacity is strong, precision is high, the deadweight duty ratio is little, power performance is good, forms complementary relationship with the serial machine people of current extensive use in application, thereby has enlarged the application of robot.Tripod robot (Delta Robot) is the parallel robot that a kind of most typical space three-freedom moves, and its overall structure is simple, compact, has good kinematics and dynamic characteristics.
As shown in Figure 1, a kind of parallel robot 100 comprises that one of support 11, moving platform 12 and connection bracket 11 and moving platform 12 is rotated side chain 13 and three translation side chains 15.Rotating side chain 13 can realize independently rotatablely moving.Three translation side chains 15 can be realized the translational motion of tri-dimensions of XYZ.Each translation side chain 15 comprises a swing arm 151 and a quadric chain 152, and swing arm 151 is flexibly connected with support 11.Between four connecting rods of quadric chain 152, by spherical hinge 153, be rotationally connected, two connecting rods that wherein are oppositely arranged are fixedly connected with swing arm 151 and moving platform 12 respectively.During work, the pendular motion that turns of certain angle is made in motor or other driver drives swing arms 151, to drive quadric chain 152 opening and closing, translation, rotation, thereby realizes the three-dimensional motion of moving platform 12.
Yet, between the connecting rod of above-mentioned quadric chain 152, by spherical hinge 153, be rotationally connected, due to the deflection angle that spherical hinge can be realized limited (being generally in 25 degree), make the translation distance of quadric chain 152 be restricted, cause adopting the kinematic dexterity of parallel robot 100 of quadric chain 152 less.And spherical hinge is difficult for processing, the fit clearance between connecting rod and spherical hinge is difficult to control, and the assembling procedure complexity causes adopting the production cost of parallel robot 100 of quadric chain 152 higher.
Summary of the invention
In view of above-mentioned condition, the parallel robot that is necessary to provide the translation side chain that a kind of kinematic dexterity is high and production cost is low and uses this translation side chain.
A kind of side chain of the translation for parallel robot, comprise swing arm and the linkage be connected with swing arm.Linkage comprises two connecting rods and the first connector that is flexibly connected these two connecting rods and the second connector be arranged in parallel.The first connector and swing arm are fixedly linked.Linkage also comprises a plurality of articulated parts, and each articulated part comprises the first pivot part and the second pivot part extended to form from the first pivot part Surface Vertical.Offer the first axis hole on the first pivot part, this first axis hole have vertical with this connecting rod and with the radially coaxial first axle of this first connector, offer the second axis hole on the second pivot part, this second axis hole has the second axis of and antarafacial vertical with first axle.The end of the first connector and the second connector is movably connected on respectively the first pivot part of a plurality of articulated parts and rotates around first axle.This linkage also comprises four rotating shafts and a plurality of locking nut, and each rotating shaft is arranged in an end and corresponding second pivot part sealed with corresponding locking nut so that this connecting rod can be around the second axis rotation of a connecting rod.
A kind of parallel robot, comprise support, moving platform, be located at the driving mechanism of support and the translation side chain of connection bracket and moving platform.The translation side chain comprises swing arm and the linkage be connected with swing arm.Linkage comprises two connecting rods and the first connector that is flexibly connected these two connecting rods and the second connector be arranged in parallel.The first connector and swing arm are fixedly linked.Linkage also comprises a plurality of articulated parts, and each articulated part comprises the first pivot part and the second pivot part extended to form from this first pivot part Surface Vertical.Offer the first axis hole on the first pivot part, this first axis hole has first axle, offers the second axis hole on the second pivot part, and this second axis hole has the second axis of and antarafacial vertical with first axle.The end of the first connector and the second connector is sheathed on respectively the first pivot part of a plurality of articulated parts and rotates around first axle.This linkage also comprises four rotating shafts and a plurality of locking nut, and each rotating shaft is arranged in an end and corresponding second pivot part sealed with corresponding locking nut so that this connecting rod can be around the second axis rotation of a connecting rod.
First and second connector of above-mentioned translation side chain is flexibly connected with two connecting rods respectively by articulated part, because articulated part has vertically and two axis of antarafacial, compared to ball pivot, rotational angle range between connecting rod and first and second connector is larger, therefore the translation distance of translation side chain is larger, make the working space of above-mentioned parallel robot large, kinematic dexterity improves.In addition, adopt the linkage of shaft connecting mode to be easy to manufacture and assembling, production cost is lower.
The accompanying drawing explanation
Fig. 1 is a kind of four-freedom parallel device people's structural representation.
Fig. 2 is the schematic perspective view of the robot of the embodiment of the present invention, and this robot comprises the translation side chain.
Fig. 3 be shown in the three-dimensional assembling of the amplification schematic diagram of translation side chain.
Fig. 4 is the three-dimensional exploded view of the side chain of translation shown in Fig. 3.
The specific embodiment
Below in conjunction with accompanying drawing and preferred embodiment, translation side chain of the present invention and parallel robot are described in further detail.
Refer to Fig. 2, the parallel robot 300 of the embodiment of the present invention is four-freedom parallel device people, and it of comprising a support 301, moving platform 302 and connection bracket 301 and moving platform 302 rotates side chain 303 and three translation side chains 200.Support 301 bottoms also are provided with three for driving the drive unit 304 of translation side chain 200 motions.
Please be simultaneously referring to Fig. 3 and Fig. 4, each translation side chain 200 comprises swing arm 10 and the quadric chain 20 be connected with swing arm 10.Quadric chain 20 comprises two connecting rods 21 that are parallel to each other, and is located at the first connector 23, the second connector 24 between two connecting rods 21, and four articulated parts 26.The first connector 23 is fixedly linked with swing arm 10.The second connector 24 is movably connected with moving platform 302.The two ends of two connecting rods 21 are rotatedly connected with the two ends of first, second connector 23,24 respectively by four articulated parts 26.
Swing arm 10 is roughly strip, and it comprises main body 12 and the connecting portion 11 and the holding section 13 that extend to form from main body 12 two ends.Connecting portion 11 can drive and be connected with drive unit 304.Holding section 13 is roughly cylindrical, offers a circular connecting hole 131 on it.
Connecting rod 21 is roughly strip, and its two ends are formed with respectively and are roughly columned first end 211 and the second end 213.Offer a circular connecting hole 212 on first end 211, offer a circular connecting hole 214 on the second end 213.
The first connector 23 is roughly cylindrical, and it comprises main body 231 and two shafts 233 that stretched out and formed by main body 231 two ends.Main body 231 can wear and be fixed in the connecting hole 131 of the holding section 13 of swing arm 10.
The structure of the second connector 24 and the first connector 23 is roughly the same, and it comprises main body 241 and two shafts 243 that stretched out and formed by main body 241 two ends.The movable axis hole 3021 be arranged on moving platform 302 of main body 241.
Articulated part 26 comprises the first pivot part 261 of an annular and sheet the second pivot part 263 extended to form from the first pivot part 261 Surface Verticals.Offer circular the first axis hole 262 on the first pivot part 261.The shaft 233 of the first connector 23 can be contained in the first axis hole 262.The first axis hole 262 has the first axle 265 extended along the diagram Y direction.Offer circular the second axis hole 264 on the second pivot part 263.The second axis hole 264 has along diagram Z-direction the second axis 266.The second axis 266 is vertical with first axle 265 but not coplanar.Quadric chain 20 also comprises four clutch shaft bearings 25 of being located in the first axis hole 262.The shaft 233 of the first connector 23 is arranged in clutch shaft bearing 25, and can be around first axle 265 rotations.
Quadric chain 20 also comprises four rotating shafts 27, a plurality of the second bearing 28 and a plurality of locking nut 29.
Rotating shaft 27 is the cylinder extended generally along the diagram Z-direction.Rotating shaft 27 comprises columniform main body 271, the support division 273 radially extended to form from main body 271 1 ends and the threaded portion 275 that extends axially formation from main body 271 other ends.The second bearing 28 can be sheathed on main body 271, and between connecting rod 21 and the second pivot part 263, to reduce the frictional force between connecting rod 21 and the second pivot part 263.In the present embodiment, the end face bearing of the second bearing 28 for comprising a plurality of needle rollers.Locking nut 29 can be locked together in threaded portion 273.
During assembling translation side chain 200, rotating shaft 27 is successively through the second axis hole 264 on the second pivot part 263 of connecting hole 212, another second bearing 28 and the articulated part 26 of the first link 211 of second bearing 28, connecting rod 21.Now, the threaded portion 275 of rotating shaft 27 protrudes from the second axis hole 264.Two locking nuts 29 are locked on threaded portion 275 successively, and the support division 273 of rotating shaft 27 and the second bearing 28 are offseted, thereby reduce the fit clearance between connecting rod 21 and the second pivot part 263, improve kinetic stability and the operating accuracy of translation side chain 300.Thus, connecting rod 21 is movably connected with the second pivot part 263 of articulated part 26, and can be around the second axis 266 rotations.Use identical step, the second link 213 of each connecting rod 21 also is connected with an articulated part 26.
The first connector 23 wears and is sticked in the connecting hole 131 of swing arm 10.Thus, the first connector 23 is fixedly connected with swing arm 10.After clutch shaft bearing 25 enters first axis hole 262 of the first pivot part 261 of articulated part 26, the shaft 233 of the first connector 23 is arranged in clutch shaft bearing 25.Thus, the first connector 23 is movably connected on the first pivot part 261 and can rotates around first axle 265.Use identical step, make the first connector 23 two ends and the second connector 24 two ends be movably connected on respectively four articulated parts 26.200 assemblings of translation side chain are complete.
During mounter people 300, the swing arm of three translation side chains 200 10 can be connected with three drive units 304 respectively, and the second connector 24 of three translation side chains 200 is rotatedly connected with three axis holes 3021 of moving platform 302 respectively.
During work, rotating side chain 303 can rotate under the driving of the drive units such as motor, swing arm 10 can be made the pendular motion that turns of certain angle under the driving of the drive units such as motor 304 with respect to support 301, to drive quadric chain 20 opening and closing, translation, rotation, thereby realize the translational motion of moving platform 302 in tri-dimensions of XYZ.In addition, rotate side chain 303 relative support 301 under the drive of moving platform 302 and also can realize the motions such as swing, reduction.Fixing cutter of the gripper of industrial robot or lathe etc. on moving platform 302, pick and place to complete workpiece in industrial production, the task such as Tool in Cutting, drilling.
In translation side chain 200 of the present invention, two connecting rods 21 can not be subject to the constraint of articulated part 26 with respect to the rotation of first, second connector 23,24, rotational angle range is large (theoretical maximum can reach 180 degree), therefore the translation distance of translation side chain 200 is larger, make the working space of robot 300 large, kinematic dexterity improves.And, adopt rotating shaft 27, the connected quadric chain 20 of articulated part 26 to be easy to manufacture and assembling, production cost is lower.
Be appreciated that parallel robot 300 also is not limited to the described four-freedom parallel device of embodiment people, also can be other multi-freedom parallel connection robots.Rotation side chain 303, clutch shaft bearing 25, the second bearing 28 all can be omitted.If the second pivot part 263 of articulated part 26 extends to form an axial region, the second axis hole 264 and rotating shaft 27 also can be omitted.Also can set up bonding strength for strengthening two connecting rods 21 and the bracing piece of whole four-bar linkage structure 20 stability between two connecting rods 21, also can be connected by rotating shaft or articulated part between this bracing piece and two connecting rods 21.
Those skilled in the art also can do other variation in spirit of the present invention, and certainly, the variation that these are done according to spirit of the present invention, all should be included in the present invention's scope required for protection.

Claims (10)

1. the side chain of the translation for parallel robot, comprise swing arm and the linkage be connected with this swing arm, this linkage comprises two connecting rods and the first connector that is flexibly connected these two connecting rods and the second connector be arranged in parallel, this first connector and this swing arm are fixedly linked, it is characterized in that: this linkage also comprises a plurality of articulated parts, each articulated part comprises the first pivot part and the second pivot part extended to form from this first pivot part Surface Vertical, offer the first axis hole on this first pivot part, this first axis hole have vertical with this connecting rod and with the radially coaxial first axle of this first connector, offer the second axis hole on this second pivot part, this second axis hole has the second axis of and antarafacial vertical with this first axle, the end of this first connector and this second connector is sheathed on respectively this first pivot part of the plurality of articulated part and rotates around first axle, this linkage also comprises four rotating shafts and a plurality of locking nut, each rotating shaft is arranged in an end and corresponding second pivot part sealed with corresponding locking nut so that this connecting rod can be around the second axis rotation of a connecting rod.
2. translation side chain as claimed in claim 1, it is characterized in that: this first connector comprises the shaft that is positioned at its end, this first axis hole holds this shaft, and this linkage also comprises the clutch shaft bearing of being located in this first axis hole, and this shaft is arranged in this clutch shaft bearing.
3. translation side chain as claimed in claim 1, it is characterized in that: this second axis hole holds this rotating shaft, this connecting rod one end offers connecting hole, this rotating shaft through the second axis hole of this connecting hole and this second pivot part so that this connecting rod and this articulated part are movably connected.
4. translation side chain as claimed in claim 3, it is characterized in that: this linkage also comprises the second bearing, this second bearing holder (housing, cover) is located in this rotating shaft and between this connecting rod and this articulated part.
5. translation side chain as claimed in claim 4, it is characterized in that: this second bearing is the end face bearing.
6. translation side chain as claimed in claim 1, it is characterized in that: the quantity of the plurality of articulated part is four, these two connecting rods have respectively first end and the second end, two first ends of these two connecting rods are movably connected by wherein two articulated parts and this first connector two ends, and two the second ends of these two connecting rods are movably connected by two other articulated part and this second connector two ends.
7. a parallel robot, comprise support, moving platform, the translation side chain of being located at the drive unit of this support and connecting this support and this moving platform, this translation side chain comprises swing arm and the linkage be connected with this swing arm, this linkage comprises two connecting rods that be arranged in parallel, and the first connector of these two connecting rods of flexible connection, the second connector, this first connector and this swing arm are fixedly linked, it is characterized in that: this linkage also comprises a plurality of articulated parts, each articulated part comprises the first pivot part and the second pivot part extended to form from this first pivot part Surface Vertical, offer the first axis hole on this first pivot part, this first axis hole have vertical with this connecting rod and with the radially coaxial first axle of this first connector, offer the second axis hole on this second pivot part, this second axis hole has the second axis of and antarafacial vertical with this first axle, the end of this first connector and this second connector is sheathed on respectively this first pivot part of corresponding articulated part and rotates around first axle, this linkage also comprises four rotating shafts and a plurality of locking nut, each rotating shaft is arranged in an end and corresponding second pivot part sealed with corresponding locking nut so that this connecting rod can be around the second axis rotation of a connecting rod.
8. parallel robot as claimed in claim 7, it is characterized in that: this linkage also comprises the clutch shaft bearing of being located at this first pivot part, and this first connector comprises the shaft that is positioned at the one end, and this shaft is arranged in this clutch shaft bearing.
9. parallel robot as claimed in claim 7, it is characterized in that: this connecting rod one end offers axis hole, this rotating shaft through this axis hole and this second pivot part so that this connecting rod and this articulated part are movably connected.
10. parallel robot as claimed in claim 7, it is characterized in that: this linkage also comprises the second bearing, this second bearing holder (housing, cover) is located in this rotating shaft and between this connecting rod and this articulated part.
CN2009103099501A 2009-11-18 2009-11-18 Translating branch chain and parallel robot using same CN102059697B (en)

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US12/650,822 US8516917B2 (en) 2009-11-18 2009-12-31 Translational branch joint and parallel robot utilizing the same

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CN102059697B true CN102059697B (en) 2013-12-11

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US8516917B2 (en) 2013-08-27
US20110113918A1 (en) 2011-05-19
CN102059697A (en) 2011-05-18

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